\hypertarget{struct_traj_gen_opts}{}\section{Traj\+Gen\+Opts Struct Reference}
\label{struct_traj_gen_opts}\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}


{\ttfamily \#include $<$Poly\+Traj\+Gen.\+h$>$}

\subsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
int \hyperlink{struct_traj_gen_opts_ad8937f645e1154dc52978bd6592ce836}{objective\+\_\+derivative}
\item 
bool \hyperlink{struct_traj_gen_opts_a5f27ab3f06720accfeaf88d44da2c5d6}{is\+\_\+waypoint\+\_\+soft}
\item 
double \hyperlink{struct_traj_gen_opts_a7424679070ea7264f7c8b6df5461bdb9}{w\+\_\+d}
\item 
bool \hyperlink{struct_traj_gen_opts_ad4725655d38467206ed000eacfd6c54a}{is\+\_\+single\+\_\+corridor}
\item 
bool \hyperlink{struct_traj_gen_opts_a7ba33a57327fba375f137f1f0104c1ea}{is\+\_\+multi\+\_\+corridor}
\item 
int \hyperlink{struct_traj_gen_opts_a538985230ef4a8cd7763c91d11bebbaf}{poly\+\_\+order}
\item 
double \hyperlink{struct_traj_gen_opts_aba857cb0ae86cbac99ba5adf9320c66d}{safe\+\_\+r}
\item 
int \hyperlink{struct_traj_gen_opts_a216fe9912362cc5e876f945112811c35}{N\+\_\+safe\+\_\+pnts}
\item 
bool \hyperlink{struct_traj_gen_opts_ab4888a8e142d514867bb3dfacb84e3d2}{verbose} = true
\end{DoxyCompactItemize}


\subsection{Detailed Description}
High level path planner 

Definition at line 63 of file Poly\+Traj\+Gen.\+h.



\subsection{Member Data Documentation}
\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!is\+\_\+multi\+\_\+corridor@{is\+\_\+multi\+\_\+corridor}}
\index{is\+\_\+multi\+\_\+corridor@{is\+\_\+multi\+\_\+corridor}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{is\+\_\+multi\+\_\+corridor}{is_multi_corridor}}]{\setlength{\rightskip}{0pt plus 5cm}bool Traj\+Gen\+Opts\+::is\+\_\+multi\+\_\+corridor}\hypertarget{struct_traj_gen_opts_a7ba33a57327fba375f137f1f0104c1ea}{}\label{struct_traj_gen_opts_a7ba33a57327fba375f137f1f0104c1ea}


Definition at line 71 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!is\+\_\+single\+\_\+corridor@{is\+\_\+single\+\_\+corridor}}
\index{is\+\_\+single\+\_\+corridor@{is\+\_\+single\+\_\+corridor}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{is\+\_\+single\+\_\+corridor}{is_single_corridor}}]{\setlength{\rightskip}{0pt plus 5cm}bool Traj\+Gen\+Opts\+::is\+\_\+single\+\_\+corridor}\hypertarget{struct_traj_gen_opts_ad4725655d38467206ed000eacfd6c54a}{}\label{struct_traj_gen_opts_ad4725655d38467206ed000eacfd6c54a}


Definition at line 70 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!is\+\_\+waypoint\+\_\+soft@{is\+\_\+waypoint\+\_\+soft}}
\index{is\+\_\+waypoint\+\_\+soft@{is\+\_\+waypoint\+\_\+soft}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{is\+\_\+waypoint\+\_\+soft}{is_waypoint_soft}}]{\setlength{\rightskip}{0pt plus 5cm}bool Traj\+Gen\+Opts\+::is\+\_\+waypoint\+\_\+soft}\hypertarget{struct_traj_gen_opts_a5f27ab3f06720accfeaf88d44da2c5d6}{}\label{struct_traj_gen_opts_a5f27ab3f06720accfeaf88d44da2c5d6}


Definition at line 67 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!N\+\_\+safe\+\_\+pnts@{N\+\_\+safe\+\_\+pnts}}
\index{N\+\_\+safe\+\_\+pnts@{N\+\_\+safe\+\_\+pnts}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{N\+\_\+safe\+\_\+pnts}{N_safe_pnts}}]{\setlength{\rightskip}{0pt plus 5cm}int Traj\+Gen\+Opts\+::\+N\+\_\+safe\+\_\+pnts}\hypertarget{struct_traj_gen_opts_a216fe9912362cc5e876f945112811c35}{}\label{struct_traj_gen_opts_a216fe9912362cc5e876f945112811c35}


Definition at line 76 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!objective\+\_\+derivative@{objective\+\_\+derivative}}
\index{objective\+\_\+derivative@{objective\+\_\+derivative}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{objective\+\_\+derivative}{objective_derivative}}]{\setlength{\rightskip}{0pt plus 5cm}int Traj\+Gen\+Opts\+::objective\+\_\+derivative}\hypertarget{struct_traj_gen_opts_ad8937f645e1154dc52978bd6592ce836}{}\label{struct_traj_gen_opts_ad8937f645e1154dc52978bd6592ce836}


Definition at line 65 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!poly\+\_\+order@{poly\+\_\+order}}
\index{poly\+\_\+order@{poly\+\_\+order}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{poly\+\_\+order}{poly_order}}]{\setlength{\rightskip}{0pt plus 5cm}int Traj\+Gen\+Opts\+::poly\+\_\+order}\hypertarget{struct_traj_gen_opts_a538985230ef4a8cd7763c91d11bebbaf}{}\label{struct_traj_gen_opts_a538985230ef4a8cd7763c91d11bebbaf}


Definition at line 73 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!safe\+\_\+r@{safe\+\_\+r}}
\index{safe\+\_\+r@{safe\+\_\+r}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{safe\+\_\+r}{safe_r}}]{\setlength{\rightskip}{0pt plus 5cm}double Traj\+Gen\+Opts\+::safe\+\_\+r}\hypertarget{struct_traj_gen_opts_aba857cb0ae86cbac99ba5adf9320c66d}{}\label{struct_traj_gen_opts_aba857cb0ae86cbac99ba5adf9320c66d}


Definition at line 75 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!verbose@{verbose}}
\index{verbose@{verbose}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{verbose}{verbose}}]{\setlength{\rightskip}{0pt plus 5cm}bool Traj\+Gen\+Opts\+::verbose = true}\hypertarget{struct_traj_gen_opts_ab4888a8e142d514867bb3dfacb84e3d2}{}\label{struct_traj_gen_opts_ab4888a8e142d514867bb3dfacb84e3d2}


Definition at line 78 of file Poly\+Traj\+Gen.\+h.

\index{Traj\+Gen\+Opts@{Traj\+Gen\+Opts}!w\+\_\+d@{w\+\_\+d}}
\index{w\+\_\+d@{w\+\_\+d}!Traj\+Gen\+Opts@{Traj\+Gen\+Opts}}
\subsubsection[{\texorpdfstring{w\+\_\+d}{w_d}}]{\setlength{\rightskip}{0pt plus 5cm}double Traj\+Gen\+Opts\+::w\+\_\+d}\hypertarget{struct_traj_gen_opts_a7424679070ea7264f7c8b6df5461bdb9}{}\label{struct_traj_gen_opts_a7424679070ea7264f7c8b6df5461bdb9}


Definition at line 68 of file Poly\+Traj\+Gen.\+h.



The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
include/traj\+\_\+gen/\hyperlink{_poly_traj_gen_8h}{Poly\+Traj\+Gen.\+h}\end{DoxyCompactItemize}
